|Publication number||US7221522 B2|
|Application number||US 11/342,387|
|Publication date||May 22, 2007|
|Filing date||Jan 27, 2006|
|Priority date||Jan 28, 2005|
|Also published as||CA2534601A1, CA2534601C, EP1686410A1, EP1686410B1, US20060256450|
|Publication number||11342387, 342387, US 7221522 B2, US 7221522B2, US-B2-7221522, US7221522 B2, US7221522B2|
|Inventors||John C. Tesar, Eric L. Hale, Nathan Jon Schara, Hans David Hoeg|
|Original Assignee||Karl Storz Development Corp.|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (22), Non-Patent Citations (2), Referenced by (8), Classifications (16), Legal Events (4)|
|External Links: USPTO, USPTO Assignment, Espacenet|
This patent application claims the benefit of, under Title 35, United States Code, Section 119(e), U.S. Provisional Patent Application No. 60/648,332, filed Jan. 28, 2005.
The present invention relates to an apparatus for obtaining wide angles of view in small areas, such as a surgical site in a patient's body. More specifically, the invention relates to an objective optical system for a viewing instrument, such as an endoscope, with a variable direction of view.
Viewing instruments, such as endoscopes, are generally well known in the art. Generally, an endoscope is a medical device for insertion into a body passageway or cavity that enables an operator to view and/or perform certain surgical procedures at a site inside a patient's body. As is known, endoscopes may be either rigid or flexible, and generally include a long tubular member equipped with, for example, some type of system for transmitting images to the user, and in some cases, a working channel for a surgical instrument. The endoscope has a proximal end that remains external to the patient, from which the operator can view the site and/or manipulate a surgical instrument, and a distal end having an endoscope tip for insertion into the body cavity of the patient.
Generally, these instruments employ some form of objective lens system, which focuses the image onto some form of image guide, such as a fiber optic bundle or relay lenses, thereby transmitting the images from inside the body cavity of the patient to the user's eye located at the proximal end of the endoscope, or to a camera likewise connected to the scope for subsequent display on a monitor and/or storage on an image capture device. Generally, these objective optical systems attempt to simultaneously maximize the field of view, maximize the image quality, provide telecentric image transmission to the image guide, and minimize the size and cost of the system.
For example, U.S. Pat. No. 4,354,734 to Nakahashi discloses an objective optical system with a telecentric design that has been very effective in providing a wide field of view in a compact, low-cost assembly. A number of retrofocal optical systems have been proposed, such as those described in U.S. Pat. No. 4,037,938 to Yamashita et al., U.S. Pat. No. 4,042,295 to Yamashita et al., U.S. Pat. No. 4,059,344 to Yamashita, U.S. Pat. No. 4,662,725 to Nisioka, and U.S. Pat. No. 6,256,155 to Nagaoka. However, all of these disclosures pertain to objective systems for endoscopes that have fixed viewing directions, and are not appropriate with endoscopes having a variable direction of view.
The operating principles of such a variable direction of view scope are described in U.S. Patent Application No. 2005/0054895 by Hoeg, et al., the specification of which is hereby incorporated herein by reference. Generally, such a scope has a view vector with an attendant view field that has at least two degrees of freedom. The first degree of freedom permits rotation of the view vector about the longitudinal axis of the endoscope's shaft, which allows the view vector to scan in a latitudinal direction, while the second degree of freedom permits rotation of the view vector about an axis perpendicular to the scope's longitudinal axis, which allows the view vector to scan in a longitudinal direction. In some cases, a third degree of freedom is also be available.
A number of such variable direction of view scopes have been proposed that use adjacent fixed and variable prisms to provide the variable direction of view, such as, for example, the designs disclosed in U.S. Pat. No. 3,880,148 to Kanehira et al., U.S. Pat. No. 4,697,577 to Forkner, U.S. Pat. No. 6,648,817 to Schara et al., German Patent DE 299 07 430, WIPO Publication No. WO 99/42028 by Hoeg, WIPO Publication No. WO 01/22865 by Ramsbottom.
A typical example of a basic dual reflector system is illustrated schematically in
Therefore, improved versions of the basic dual reflector design, employing additional optical mechanisms for improving the field of view, have been proposed. An example of such a system is shown in
Therefore, a continuous challenge presented by these systems is producing a suitable objective optical system that adequately accommodates this sort of dual reflector design. At the same time, there remains, in addition to the performance of the particular objective system, the ever-present desire to minimize the space required by the optics, including both the rotating and non-rotating prisms, as well as any other elements employed, as it is generally desired to produce scope diameters that are as small as possible in order to facilitate insertion and retraction. Because a dual prism design, such as those noted above, entails the use of two prisms positioned side-by-side transverse to the longitudinal axis of the scope, the scope diameter is usually somewhat large.
Therefore, it is desirable to design the system in such a way that the size of the optics can be minimized, while still providing the advantages of telecentricity, a large scanning range, a large field of view, and good image quality in a cost-effective manner. To date, this has been difficult to accomplish, as these interests often conflict. For example, decreasing the size of the optical elements typically reduces the amount of light admitted by the system and adversely affects the image brightness. As another example, increasing the field of view typically exacerbates optical aberrations and degrades image quality.
One of many critical design parameters in the optical system of such instruments is the entrance pupil, which is the location where the diameter of the light beam is minimal. This is also the location where an aperture stop can be optimally located to best condition the image and control image brightness and other image quality parameters. Most of the proposed designs noted above do not even mention the existence of an entrance pupil or aperture stop anywhere in the optical systems, while the design of Ramsbottom, for instance, apparently has the entrance pupil and accompanying aperture stop at the reflective face of the fixed reflector. This is not ideal, as this location of the aperture stop negatively affects both system size and performance—the system should be designed to accommodate larger diameter light flow on either side of it.
What is desired, therefore, is an optical system for a variable direction of view instrument that maximizes the field of view. What is further desired is an optical system for a variable direction of view instrument that maximizes the image quality and provides telecentric image transmission to the image guide. What is also desired is an optical system for a variable direction of view instrument that minimizes both the size and cost of the instrument.
Accordingly, it is an object of the present invention to provide an optical system for a variable direction of view instrument that provides a large scanning range and field of view.
It is a further object of the present invention to provide an optical system for a variable direction of view instrument that does not employ a large reflector that unnecessarily increases the instrument diameter.
It is yet another object of the present invention to provide an optical system for a variable direction of view instrument that does not require an amount of optical elements that unnecessarily increases the instrument diameter.
It is still another object of the present invention to provide an optical system for a variable direction of view instrument that does not decrease the size of the optical elements so as to unnecessarily reduce the amount of admitted light and adversely affect image brightness.
It is yet another object of the present invention to provide an optical system for a variable direction of view instrument that provides telecentric image transmission.
In order to overcome the deficiencies of the prior art and to achieve at least some of the objects and advantages listed, the invention comprises a viewing instrument with a variable direction of view, including a shaft having a distal end and a longitudinal axis, first and second reflectors located at the distal end of the shaft for folding an optical path of incoming light, the first reflector having a rotational axis angularly offset from the longitudinal axis of the shaft about which the first reflector rotates, wherein the first reflector has a first reflecting surface that receives and redirects the incoming light towards the second reflector, and the second reflector has a second reflecting surface that redirects the light from the first reflector along the shaft, and an aperture stop located in the optical path and preceding the second reflecting surface.
In some of these embodiments, the first and second reflectors comprise first and second prisms.
In certain embodiments, the first reflector has an exit face through which the light redirected by the first reflecting surface exits the first reflector, the second reflector has an entrance face through which the light from the first reflector enters the second reflector, and the aperture stop is located between the exit face of the first reflector and the entrance face of the second reflector. In some of these embodiments, the aperture stop is located on the entrance face of the second reflector, while in some embodiments, the aperture stop is located on the exit face of the first reflector. In certain embodiments, the aperture stop is located on the first reflecting surface.
In some of these embodiments, a negative lens is located adjacent the first reflector through which the incoming light is transmitted to the first reflector, and a convex surface through which the light redirected by the first reflecting surface is transmitted to the second reflector.
In another embodiment, the invention comprises a viewing instrument with a variable direction of view, including a shaft having a distal end and a longitudinal axis, first and second reflectors located at the distal end of the shaft, the first reflector having a rotational axis angularly offset from the longitudinal axis of the shaft about which the first reflector rotates, the second reflector having a reflecting surface, and an optical path along which incoming light travels to the first reflector, is redirected by the first reflector towards the second reflector, and is redirected by the reflecting surface of the second reflector along the shaft, wherein the optical path includes an entrance pupil preceding the reflecting surface of the second reflector.
In yet another embodiment, the invention comprises a viewing instrument with a variable direction of view, including a shaft having a distal end and a longitudinal axis, first and second reflectors located at the distal end of the shaft, the first reflector having a rotational axis angularly offset from the longitudinal axis of the shaft about which the first reflector rotates, an optical train located in the shaft, and an optical path along which incoming light travels to the first reflector, is redirected by the first reflector towards the second reflector, and is redirected by the second reflector towards the optical train, wherein the optical path includes an entrance pupil preceding the second reflector.
The basic components of one embodiment of a optical system for a variable direction of view instrument in accordance with the invention are illustrated in
The first reflector may comprise a prism 10 that rotates about a rotational axis 24, which in certain advantageous embodiments, is substantially perpendicular to the longitudinal axis 35 of the shaft 33. The prism 10 has a first reflecting surface 11 that redirects incoming light to the second reflector which may comprise a fixed prism 12. The second prism 12, in turn, has a second reflecting surface 13 that redirects the light from the first reflector 10 to the optical train 38, 39, 40, 41 in the shaft. Additionally, though the positive lens 34 has been shown as a separate, plano-convex lens, other configurations are possible, such as, for example a convex surface comprising the exit face of the first prism 10. Similarly, other configurations for the optical train 38, 39, 40, 41 are possible.
The viewing window 32 is illustrated in detail in
The window 32 has a general sphericity that helps minimize distortion and other image-degrading effects, as the chief light rays entering the optical system via the window 32 will be generally normal to the outer surface thereof, and thus, will suffer minimal refraction. Because of the spherical shape of the window 32, this condition can be maintained throughout a full 360 degree sweep. It should be noted, however, that in certain other embodiments, in may be desirable to use other window shapes, such as, for example, cylindrical.
Accordingly, as shown in
Alternatively, because there is a limit on how small the pivotable prism 10 can be made, and also in order to not locate the entrance pupil on a reflective surface, in some advantageous embodiments, the aperture stop 28 is located between the exit face of the prism 10 and the entrance face of the prism 12. Accordingly, the stop 28 may be positioned on an opposing face of the prisms 10, 12, or in between these faces, as shown in
It should be understood that the foregoing is illustrative and not limiting, and that obvious modifications may be made by those skilled in the art without departing from the spirit of the invention. Accordingly, reference should be made primarily to the accompanying claims, rather than the foregoing specification, to determine the scope of the invention.
|Cited Patent||Filing date||Publication date||Applicant||Title|
|US3880148||Sep 24, 1973||Apr 29, 1975||Olympus Optical Co||Endoscope|
|US4037938||Nov 26, 1975||Jul 26, 1977||Olympus Optical Co., Ltd.||Retrofocus-type objective for endoscopes|
|US4042295||Oct 14, 1975||Aug 16, 1977||Olympus Optical Co., Inc.||Retrofocus-type objective for endoscopes|
|US4059344||Feb 14, 1977||Nov 22, 1977||Olympus Optical Co., Ltd.||Retrofocus-type objective for endoscopes|
|US4140364||Dec 5, 1977||Feb 20, 1979||Olympus Optical Co., Ltd.||Variable field optical system for endoscopes|
|US4354734||Aug 1, 1980||Oct 19, 1982||Olympus Optical Co., Ltd.||Objective optical system for endoscopes|
|US4598980||Jul 18, 1984||Jul 8, 1986||Fuji Photo Optical Co., Ltd.||Objective optical system for endoscope|
|US4662725||Feb 12, 1985||May 5, 1987||Olympous Optical Co., Ltd.||Objective lens system for endoscopes|
|US4697577||May 22, 1986||Oct 6, 1987||Baxter Travenol Laboratories, Inc.||Scanning microtelescope for surgical applications|
|US4916534 *||Apr 27, 1988||Apr 10, 1990||Olympus Optical Co., Ltd.||Endoscope|
|US5899851||Jul 7, 1994||May 4, 1999||Saturnus A.G.||TV camera with rotational orientation correction|
|US6256155||Sep 7, 1999||Jul 3, 2001||Olympus Optical Co., Ltd.||Objective optical system|
|US6522906||Dec 14, 1999||Feb 18, 2003||Intuitive Surgical, Inc.||Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure|
|US6560013||Aug 2, 2000||May 6, 2003||Keymed (Medical & Industrial Equipment) Ltd.||Endoscope with variable direction of view|
|US6648817||Nov 15, 2001||Nov 18, 2003||Endactive, Inc.||Apparatus and method for stereo viewing in variable direction-of-view endoscopy|
|US20040127769||Dec 12, 2003||Jul 1, 2004||Hale Eric L.||Interface for a variable direction-of-view endoscope|
|US20050054895||Sep 9, 2003||Mar 10, 2005||Hoeg Hans David||Method for using variable direction of view endoscopy in conjunction with image guided surgical systems|
|DE29907430U1||Apr 27, 1999||Sep 16, 1999||Schich Gisbert||Endoskop mit Drehblickoptik|
|EP1466552A1||Jul 31, 2003||Oct 13, 2004||Olympus Corporation||Endoscope|
|WO1998046120A2||Apr 16, 1998||Oct 22, 1998||Karl Storz Gmbh & Co.||Endoscopic system|
|WO1999042028A1||Feb 19, 1999||Aug 26, 1999||California Institute Of Technology||Apparatus and method for providing spherical viewing during endoscopic procedures|
|WO2001022865A1||Aug 2, 2000||Apr 5, 2001||Keymed (Medical & Industrial Equipment) Ltd.||Endoscope with variable direction of view|
|1||Extended European Search Report ; Jun. 22, 2006; 7 pages.|
|2||Extended European Search Report; May 2, 2006; 6 pages.|
|Citing Patent||Filing date||Publication date||Applicant||Title|
|US7616393 *||Dec 20, 2007||Nov 10, 2009||Eastman Kodak Company||Compact folded thin lens|
|US8684915||Aug 22, 2012||Apr 1, 2014||Olympus Medical Systems Corp.||Endoscope optical system|
|US8758234||Dec 20, 2012||Jun 24, 2014||Karl Storz Imaging, Inc.||Solid state variable direction of view endoscope|
|US8771177||Jan 20, 2012||Jul 8, 2014||Karl Storz Imaging, Inc.||Wide angle flexible endoscope|
|US8992423||Jun 23, 2014||Mar 31, 2015||Karl Storz Imaging, Inc.||Solid state variable direction of view endoscope|
|US9757014 *||Aug 4, 2011||Sep 12, 2017||Karl Storz Gmbh & Co. Kg||Endoscope with adjustable viewing angle|
|US20090161235 *||Dec 20, 2007||Jun 25, 2009||Border John N||Compact folded thin lens|
|US20120035420 *||Aug 4, 2011||Feb 9, 2012||Ulrich Weiger||Endoscope with adjustable viewing angle|
|U.S. Classification||359/740, 359/833, 359/739, 359/362, 359/738|
|International Classification||G02B9/00, G02B23/24, G02B5/04|
|Cooperative Classification||A61B1/00096, G02B23/243, A61B1/00183, G02B13/22|
|European Classification||A61B1/00S4H, G02B13/22, G02B23/24B2B, A61B1/00|
|Jul 12, 2006||AS||Assignment|
Owner name: KARL STORZ DEVELOPMENT CORP., CALIFORNIA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:TESAR, JOHN C.;HALE, ERIC L.;SCHARA, NATHAN JON;AND OTHERS;REEL/FRAME:017920/0266;SIGNING DATES FROM 20060406 TO 20060630
|Oct 1, 2010||FPAY||Fee payment|
Year of fee payment: 4
|Oct 12, 2010||AS||Assignment|
Owner name: KARL STORZ IMAGING, INC., CALIFORNIA
Free format text: NUNC PRO TUNC ASSIGNMENT;ASSIGNOR:KARL STORZ DEVELOPMENT CORP.;REEL/FRAME:025114/0991
Effective date: 20101004
|Oct 22, 2014||FPAY||Fee payment|
Year of fee payment: 8